rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-17 02:52:12 +01:00
Code Issues Releases Activity

OP-21/Flight Bootloader

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1642 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
zedamota 2010-09-15 17:08:24 +00:00 committed by zedamota
parent f972b78bfb
commit c72a5b1cfe
3 changed files with 74 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

47
flight/PiOS/inc/pios_bl_helper.h Normal file
View File

@ -0,0 +1,47 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_BOOTLOADER Functions
* @brief HAL code to interface to the OpenPilot AHRS module
* @{
*
* @file pios_bl_helper.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Bootloader Helper Functions
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_BL_HELPER_H_
#define PIOS_BL_HELPER_H_
extern uint8_t *FLASH_If_Read(uint32_t SectorAddress);
extern uint8_t FLASH_Ini();
extern uint32_t crc_memory_calc();
extern void read_description(uint8_t * array);
extern uint8_t FLASH_Start();
extern void CRC_Ini();
#endif /* PIOS_BL_HELPER_H_ */

5
flight/PiOS/inc/pios_opahrs.h
View File

@ -50,8 +50,9 @@ extern enum opahrs_result PIOS_OPAHRS_bl_FwupStart(struct opahrs_msg_v0 * req, s
extern enum opahrs_result PIOS_OPAHRS_bl_FwupData(struct opahrs_msg_v0 * req, struct opahrs_msg_v0 * rsp);
extern enum opahrs_result PIOS_OPAHRS_bl_FwupVerify(struct opahrs_msg_v0 * rsp);
extern enum opahrs_result PIOS_OPAHRS_bl_resync(void);
extern enum opahrs_result PIOS_OPAHRS_bl_GetMemMap(struct opahrs_msg_v0 * rsp);
extern enum opahrs_result PIOS_OPAHRS_bl_reset();
extern enum opahrs_result PIOS_OPAHRS_bl_boot();
/*
* Protocol V1 messages used by application
*/

24
flight/PiOS/inc/pios_opahrs_proto.h
View File

@ -85,8 +85,14 @@ struct opahrs_msg_v0_req_fwup_start {
} __attribute__((__packed__));
struct opahrs_msg_v0_req_fwup_data {
uint32_t adress;
uint32_t data;
} __attribute__((__packed__));
struct opahrs_msg_v0_req_mem_map {
} __attribute__((__packed__));
struct opahrs_msg_v0_req_fwup_verify {
} __attribute__((__packed__));
@ -96,6 +102,7 @@ union opahrs_msg_v0_req {
struct opahrs_msg_v0_req_reset reset;
struct opahrs_msg_v0_req_boot boot;
struct opahrs_msg_v0_req_serial serial;
struct opahrs_msg_v0_req_mem_map mem_map;
struct opahrs_msg_v0_req_fwup_start fwup_start;
struct opahrs_msg_v0_req_fwup_data fwup_data;
struct opahrs_msg_v0_req_fwup_verify fwup_verify;
@ -105,19 +112,32 @@ struct opahrs_msg_v0_rsp_versions {
uint8_t hw_version;
uint16_t bl_version;
uint32_t fw_version;
uint8_t description[100];
} __attribute__((__packed__));
struct opahrs_msg_v0_rsp_serial {
uint8_t serial_bcd[24];
} __attribute__((__packed__));
enum bootloader_status{idle,started,start_failed,write_error,outside_dev_capabilities,jump_failed};
struct opahrs_msg_v0_rsp_fwup_status {
enum bootloader_status status;
} __attribute__((__packed__));
enum hw_density {high_density,medium_density};
struct opahrs_msg_v0_rsp_mem_map {
uint32_t start_of_user_code;
uint32_t size_of_code_memory;
uint8_t size_of_description;
uint8_t rw_flags;
enum hw_density density;
} __attribute__((__packed__));
union opahrs_msg_v0_rsp {
struct opahrs_msg_v0_rsp_versions versions;
struct opahrs_msg_v0_rsp_serial serial;
struct opahrs_msg_v0_rsp_fwup_status fwup_status;
struct opahrs_msg_v0_rsp_mem_map mem_map;
} __attribute__((__packed__));
enum opahrs_msg_v0_tag {
@ -127,6 +147,8 @@ enum opahrs_msg_v0_tag {
OPAHRS_MSG_V0_REQ_BOOT,
OPAHRS_MSG_V0_REQ_SERIAL,
OPAHRS_MSG_V0_REQ_MEM_MAP,
OPAHRS_MSG_V0_REQ_FWUP_START,
OPAHRS_MSG_V0_REQ_FWUP_DATA,
OPAHRS_MSG_V0_REQ_FWUP_VERIFY,
@ -134,6 +156,8 @@ enum opahrs_msg_v0_tag {
OPAHRS_MSG_V0_RSP_VERSIONS,
OPAHRS_MSG_V0_RSP_SERIAL,
OPAHRS_MSG_V0_RSP_FWUP_STATUS,
OPAHRS_MSG_V0_RSP_MEM_MAP,
};
struct opahrs_msg_v0_payload {